CN108566677A - A kind of fingerprint positioning method and device - Google Patents

A kind of fingerprint positioning method and device Download PDF

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Publication number
CN108566677A
CN108566677A CN201810230982.1A CN201810230982A CN108566677A CN 108566677 A CN108566677 A CN 108566677A CN 201810230982 A CN201810230982 A CN 201810230982A CN 108566677 A CN108566677 A CN 108566677A
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point
signal strength
received signal
determined
time
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CN108566677B (en
Inventor
邓中亮
李晶
刘雯
付潇
姚喆
王翰华
苏洋
张书楠
邢华帅
冷泽富
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Beijing University of Posts and Telecommunications
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Beijing University of Posts and Telecommunications
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

An embodiment of the present invention provides a kind of fingerprint positioning method and device, this method includes：For the first access point AP, AP and two adjacent points in given scenario region, the first received signal strength of calculating are obtained, two adjacent points include：Current point to be determined and relative to the upper point before current point to be determined, what the first received signal strength of current point to be determined/upper point was obtained by the correspondence of the distance between the first access point and current point to be determined/upper point between received signal strength；By the difference of the first received signal strength of two adjacent points, and what is obtained be located at two adjacent points, and the received signal strength of the signal of AP, as the input of Kalman filtering, using Kalman filtering, the received signal strength after being optimized is poor；Corresponding received signal strength, the sum of the received signal strength difference with after optimization position current point to be determined when by the upper point location of acquisition.

Description

A kind of fingerprint positioning method and device
Technical field
The present invention relates to MultiMedia Field, more particularly to a kind of fingerprint positioning method and device.
Background technology
With the development of the communication technology, a part of the location-based service as communication service becomes more and more important.Fingerprint is fixed Position technology is a kind of common technology in location-based service.At present GNSS (Global Navigation Satellite System, Global Navigation Satellite System) high accuracy positioning can be provided in outdoor, but all indoors due to the time of people 80%, GNSS Signal cannot achieve indoor high-precision positioning under the circumstance of occlusion of building, thus can use fingerprint location technology into Row indoor positioning.
Fingerprint location technology need not know the sighting distance position of AP (Access Point, access point) due to it, only rely on Existing infrastructure can position, so being widely used.Fingerprint location technology includes offline sampling and tuning on-line two Stage.First stage is offline sample phase, on each RP (Reference Point, reference point), is collected from each The RSS (Received Signal Strength, received signal strength) and RP position coordinates of AP, the position coordinates include warp Degree, latitude and height generate corresponding fingerprint recording, and the fingerprint recording are stored in fingerprint database.Second stage be The environment of line positioning stage, the tuning on-line stage residing for point to be determined changes relative to the environment of offline sample phase, For example, increasing a wall or flow of the people becomes larger, such RSS can be influenced by environmental change, so as to cause online rank RSS in the fingerprint of RSS and the off-line phase storage of section differs greatly, and is matched in fingerprint base using this RSS RSS can also have deviation, and follow-up using the RSS come is matched, the coordinate of determining point to be determined also has deviation, fixed in this way Position accuracy is relatively low.
Invention content
The embodiment of the present invention is designed to provide a kind of fingerprint positioning method and device, fixed in the prior art to solve The relatively low technical problem of position precision.Specific technical solution is as follows：
In a first aspect, present invention implementation provides a kind of fingerprint positioning method, the method includes：
For the first access point AP, the AP and two adjacent points in given scenario region are obtained, the first of calculating Received signal strength, described two adjacent points include：Current point to be determined and relative to upper one before current point to be determined It is a, the first received signal strength of the current point to be determined by first access point and the current point to be determined it Between distance and received signal strength between correspondence obtain, the first received signal strength of the upper point is logical Cross what the correspondence of the distance between first access point and point on this between received signal strength obtained；
By the difference of the first received signal strength of described two adjacent points, as waiting between described two adjacent points It is poor to optimize received signal strength；
It obtains and is located at described two adjacent points, the received signal strength of the signal of the AP is received as measuring Signal strength；
The measurement received signal strength of described two adjacent points and the received signal strength to be optimized is poor, as card The input of Kalman Filtering, using the Kalman filtering, the received signal strength after being optimized is poor, and the Kalman filtering is used Received signal strength to be optimized between optimizing described two adjacent points is poor；
Received signal strength corresponding when a upper point location is obtained, as upper optimization received signal strength；
By the sum of the received signal strength difference after upper an optimization received signal strength, with the optimization, as described The optimization received signal strength of current point to be determined；
Based on the optimization received signal strength of the current point to be determined, the current point to be determined is positioned.
Further, the first received signal strength of the current point to be determined is calculated using following formula：
RSS=RSS0+10nlg(d)+Xδ
Wherein, RSS is the first received signal strength of the current point to be determined, RSS0It is currently waited for described for the AP Initial received signal strength when the distance of anchor point is 1m, d are the first distance of the current point to be determined and the AP, Xδ It is signal decay factor for environment random factor and n.
Further, described by the measurement received signal strength of described two adjacent points and the reception signal to be optimized Intensity difference, as the input of Kalman filtering, using the Kalman filtering, the received signal strength after being optimized is poor, packet It includes：
Utilize formula：Calculate the current point to be determined and a upper point it Between received signal strength difference priori estimatesWherein, the k is greater than or equal to 1 integer,It is described upper one The measurement received signal strength of a point, Ψ are noise matrix, andLetter is received for the measurement of the current point to be determined Number intensity, the online indicate to measure received signal strength when electronic equipment is online, on the k-1 indicates described One point, the k indicate the current point to be determined；
Utilize formula：Calculate calculation matrix H；Wherein, σkPoor, the Φ for the received signal strength to be optimized For measurement noise；
Utilize formula：Calculate the prior estimate of the error covariance of the current point to be determined Wherein, F is the online received signal strength of a upper pointWith the online received signal strength of current point to be determined Between state-transition matrix, FTIt is the transposed matrix of F, Q is process noise covariance matrix, Pk-1For a upper point The prior estimate of error covariance, the first time Pk-1Possesses initial value, the one W times describedW is more than 1 Integer, I be unit matrix, KkFor kalman gain, andR is observation noise covariance matrix；
Utilize formula：It calculates between the current point to be determined and a upper point The posterior estimate δ of received signal strength differencek；
By the posterior estimate δk, as an optimization after received signal strength it is poor.
Further, a upper point is first anchor point, and a when acquisition upper point location is corresponding Received signal strength, as it is upper one optimization received signal strength, including：
Obtain be located at first anchor point at, it is described first positioning point location when AP signal reception signal Intensity, as measurement received signal strength；
By the measurement received signal strength, as upper optimization received signal strength.
Further, a upper point be in addition to first anchor point, a current point to be determined later, it is described on One optimization received signal strength using the Kalman filtering based on being optimized between current point to be determined and a upper point Received signal strength difference obtains.
Further, described to be directed to the first access point AP, obtain the AP with it is two adjacent in given scenario region Point, the first received signal strength of calculating, including：
For the AP, obtain the transmission between the AP and the current point to be determined time and the AP with The time of transmission between a upper point, as signal transmission time；
The speed propagated using the signal transmission time and signal, calculates separately the AP and the current point to be determined The distance between and the distance between the AP and a upper point, as the first distance；
It is calculated by the correspondence between the distance pre-established and received signal strength based on first distance First received signal strength of the first received signal strength of the current point to be determined and a upper point.
Further, described to be directed to the first AP, obtain the transmission between the AP and the current point to be determined The time of transmission between time and the AP and a upper point, as signal transmission time, including：
It obtains the AP and sends the first signal to the current point to be determined, be directed to by the current point to be determined with receiving Time difference between the first response signal that first signal returns, as the first two-way time；
It obtains the current point to be determined and receives first signal, returned to the AP with for first signal Time difference between first response signal, as the first response time；
By the difference of first two-way time and first response time, the AP and the current point to be determined are obtained Between transmission time, as the signal transmission time；
It obtains the AP and sends the first signal to a upper point, described first is directed to by a upper point with receiving Time difference between the second response signal that signal returns, as the second two-way time；
Obtain a upper point and receive first signal, with for first signal to the AP return described in Time difference between second response signal, as the second response time；
The difference of second two-way time and second response time are obtained between the AP and a upper point Transmission time, as the signal transmission time.
Further, described to be directed to the first AP, obtain the transmission between the AP and the current point to be determined The time of transmission between time and the AP and a upper point, as signal transmission time, including：
It obtains the AP and sends the first signal to the current point to be determined, be directed to by the current point to be determined with receiving Time difference between the first response signal that first signal returns, as the first two-way time；
It obtains the current point to be determined and receives first signal, returned to the AP with for first signal Time difference between first response signal, as the first response time；
It obtains the current point to be determined and sends second signal to the AP, believed for second by being directed to the AP with receiving Number return the second response signal between time difference, as the second two-way time；
It obtains the AP and receives the second signal, returned to the current point to be determined with for the second signal Time difference between second response signal, as the second response time；
By the difference of first two-way time and first response time, the AP and the current point to be determined are obtained Between transmission time, as the first transmission time；
By the difference of second two-way time and second response time, the AP and the current point to be determined are obtained Between transmission time, as the second transmission time；
By the average value of the sum of first transmission time and second transmission time, when as the signal transmission Between；
It obtains the AP and sends the first signal to a upper point, described first is directed to by a upper point with receiving Time difference between the first response signal that signal returns, as the first two-way time；
Obtain a upper point and receive first signal, with for first signal to the AP return described in Time difference between first response signal, as the first response time；
It obtains a upper point and sends second signal to the AP, returned for second signal with receiving by being directed to the AP Time difference between the second response signal returned, as the second two-way time；
It obtains the AP and receives the second signal, described in being returned to the upper point for the second signal Time difference between second response signal, as the second response time；
The difference of first two-way time and first response time are obtained between the AP and a upper point Transmission time, as the first transmission time；
The difference of second two-way time and second response time are obtained between the AP and a upper point Transmission time, as the second transmission time；
By the average value of the sum of first transmission time and second transmission time, when as the signal transmission Between.
The third aspect, present invention implementation provide a kind of fingerprint location device, and described device includes：
First acquisition module obtains the AP and two phases in given scenario region for being directed to the first access point AP Adjacent point, the first received signal strength of calculating, described two adjacent points include：Current point to be determined and relative to currently waiting for A upper point before anchor point, the first received signal strength of the current point to be determined pass through first access point and institute State what correspondence of the distance between the current point to be determined between received signal strength obtained, the of a upper point Pair of one received signal strength by the distance between point on first access point and this between received signal strength It should be related to；
First determining module is used for by the difference of the first received signal strength of described two adjacent points, as described two Received signal strength to be optimized between a adjacent point is poor；
Second acquisition module, for obtaining at described two adjacent points, the reception signal of the signal of the AP Intensity, as measurement received signal strength；
Second determining module is used for the measurement received signal strength of described two adjacent points and the reception to be optimized Difference in signal strength, as the input of Kalman filtering, using the Kalman filtering, the received signal strength after being optimized Difference, the received signal strength to be optimized that the Kalman filtering is used to optimize between described two adjacent points are poor；
Third acquisition module, corresponding received signal strength when for obtaining a upper point location, as upper one Optimize received signal strength；
Third determining module, for the reception signal after upper an optimization received signal strength, with the optimization is strong Spend the sum of difference, the optimization received signal strength as the current point to be determined；
Locating module is used for the optimization received signal strength based on the current point to be determined, to described current to be positioned Point is positioned.
Further, second determining module, is specifically used for：
Utilize formula：Calculate the current point to be determined and a upper point it Between received signal strength difference priori estimatesWherein, the k is greater than or equal to 1 integer,It is described upper one The measurement received signal strength of a point, Ψ are noise matrix, andLetter is received for the measurement of the current point to be determined Number intensity, the online indicate to measure received signal strength when electronic equipment is online, on the k-1 indicates described One point, the k indicate the current point to be determined；
Utilize formula：Calculate calculation matrix H；Wherein, σkPoor, the Φ for the received signal strength to be optimized For measurement noise；
Utilize formula：Calculate the prior estimate of the error covariance of the current point to be determined Wherein, F is the online received signal strength of a upper pointWith the online received signal strength of current point to be determinedBetween state-transition matrix, FTIt is the transposed matrix of F, Q is process noise covariance matrix, Pk-1It is described upper one The prior estimate of the error covariance of a point, the first time Pk-1Possesses initial value, the one W times describedW is Integer more than 1, I are unit matrix, KkFor kalman gain, andR is observation noise covariance Matrix；
Utilize formula：It calculates between the current point to be determined and a upper point The posterior estimate δ of received signal strength differencek；
By the posterior estimate δk, as an optimization after received signal strength it is poor.
The third aspect, present invention implementation provide a kind of electronic equipment, including processor, communication interface, memory and logical Believe bus, wherein processor, communication interface, memory complete mutual communication by communication bus；
Memory, for storing computer program；
Processor when for executing the program stored on memory, realizes the method and step described in first aspect.
Fourth aspect, present invention implementation provide a kind of computer readable storage medium, the computer-readable storage medium Instruction is stored in matter, when run on a computer so that computer executes any method of above-mentioned first aspect.
5th aspect, the present invention implements to additionally provide a kind of computer program product including instruction, when it is in computer When upper operation so that computer executes any method of above-mentioned first aspect.
A kind of fingerprint positioning method and device provided in an embodiment of the present invention obtain first and connect for the first access point AP Two adjacent points in access point AP and given scenario region, the first received signal strength of calculating, two adjacent points include： Current point to be determined and relative to the upper point before current point to be determined, the first received signal strength of current point to be determined It is obtained by the correspondence of the distance between the first access point and current point to be determined between received signal strength, on First received signal strength of one point by the distance between point on the first access point and this and received signal strength it Between correspondence obtain；By the difference of the first received signal strength of two adjacent points, as between two adjacent points Received signal strength to be optimized it is poor；It obtains and is located at two adjacent points, the received signal strength of the signal of the first AP is made To measure received signal strength；The measurement received signal strength of two adjacent points and received signal strength to be optimized is poor, make For the input of Kalman filtering, using Kalman filtering, the received signal strength after being optimized is poor, and Kalman filtering is for excellent The received signal strength to be optimized changed between two adjacent points is poor；It is strong to obtain reception signal corresponding when a point location Degree, as upper optimization received signal strength；By the received signal strength difference after upper an optimization received signal strength, with optimization With the optimization received signal strength as current point to be determined；Optimization received signal strength based on current point to be determined, to working as Preceding point to be determined is positioned.
It can be seen that obtaining the first access point AP and two adjacent points in given scenario region, the first of calculating connects Signal strength is received, the received signal strength to be optimized then calculated is poor；Using Kalman filtering to reception signal to be optimized Intensity difference optimizes, the decaying for the speed propagated in this way due to signal, much smaller than the decaying that signal propagates energy, therefore utilizes First distance, the received signal strength to be optimized determined is poor, and institute is affected by environment smaller.By by two adjacent points It measures received signal strength and the received signal strength to be optimized is poor, as the input of Kalman filtering, filtered using Kalman Wave, the received signal strength after being optimized are poor.Kalman filtering receives letter using the measurement of two adjacent points in this way Number intensity, and the relationship of received signal strength to be optimized difference calculated so that the received signal strength to be optimized after optimization Difference is finally completed the positioning of current point to be determined closer to actual value, and positioning compared to the prior art effectively reduces Interference of the environment to received signal strength, improves setting accuracy.
Certainly, implement any of the products of the present invention or method it is not absolutely required at the same reach all the above excellent Point.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technology description to be briefly described.
Fig. 1 is the flow diagram of fingerprint positioning method provided in an embodiment of the present invention.
Fig. 2 is the schematic diagram of the signal transmission time in bilateral bi-directional telemetry provided in an embodiment of the present invention.Flow Schematic diagram.
Fig. 3 is the structural schematic diagram of the fingerprint location device of the embodiment of the present invention.
Fig. 4 is the structural schematic diagram of electronic equipment provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is described.
For the relatively low technical problem of the positioning accuracy of the prior art, the embodiment of the present invention provides a kind of fingerprint positioning method And device, the first access point AP of acquisition and two adjacent points in given scenario region, the first received signal strength of calculating, Then the received signal strength to be optimized calculated is poor；Received signal strength difference to be optimized is carried out using Kalman filtering excellent Change, the received signal strength after being optimized is poor；The received signal strength being then based on after optimization is poor, obtains current point to be determined Optimization received signal strength, positioned with completing current point to be determined.
The first distance is utilized in this way, and the received signal strength to be optimized determined is poor, and institute is affected by environment smaller, then profit With Kalman filtering so that the received signal strength difference to be optimized after optimization is closer to actual value, subsequently, after optimization Received signal strength to be optimized it is poor, obtain the optimization received signal strength of current point to be determined, to current point to be determined carry out Positioning.Positioning compared to the prior art, positioning compared to the prior art effectively reduce environment to received signal strength Interference, improve setting accuracy.
A kind of fingerprint positioning method provided in an embodiment of the present invention is introduced first below.
A kind of fingerprint positioning method that the embodiment of the present invention is provided is applied to electronic equipment.It is exemplary, the electronic equipment For mobile terminal.Further, mobile terminal can be mobile phone, tablet computer etc..
Referring to Fig. 1, Fig. 1 is the flow diagram of fingerprint positioning method provided in an embodiment of the present invention.The embodiment of the present invention A kind of fingerprint positioning method provided, may include steps of：
Step 110, for the first access point AP, AP and two adjacent points in given scenario region are obtained, calculating First received signal strength, two adjacent points include：Current point to be determined and relative to upper one before current point to be determined It is a, the first received signal strength of current point to be determined by the distance between the first access point and current point to be determined, and What the correspondence between received signal strength obtained, the first received signal strength of a upper point by the first access point and is somebody's turn to do Correspondence of the distance between the upper point between received signal strength obtains.
The first access point AP in the embodiment of the present invention can be an AP, can also be multiple AP, this first access APs of the point AP set by specific given scenario region is determined, is not limited thereto.Wherein, given scenario region is general It is the region in fixed form.Illustratively, given scenario region can be construction area, for example, can be market, office building, Apartment, teaching building, residential building etc.；Given scenario region can also be a channel, such as massif tunnel, and subterranean tunnel etc. is appointed What can use the given scenario of the embodiment of the present invention to belong to the protection domain of the embodiment of the present invention to complete fingerprint location.
Electronic equipment is in above-mentioned given scenario, it is to be positioned that a upper point can be that electronic equipment first reaches Point can also be the anchor point that electronic equipment first reaches.The reception corresponding in positioning has been got as long as disclosure satisfy that The point of signal strength, belongs to the protection domain of the present embodiment.
Wherein, when can be the point to be determined that electronic equipment first reaches for a upper point, how to carry out a point it The positioning of adjacent current point to be determined afterwards, specific execution are as follows：
First, received signal strength corresponding when positioning is obtained, also no-fix goes out the elements of a fix of a upper point, electronics Equipment is moved into adjacent next point, in this way can be to continuing using adjacent next point as current point to be determined The elements of a fix of a point are positioned, the elements of a fix of a upper point are stored；It can not also be with continuing to determine a upper point Position stores a upper point and has obtained received signal strength corresponding when positioning；
Then, corresponding received signal strength when directly using a stored upper point location, as a upper optimization Received signal strength continues the positioning of current point to be determined.
When can be the anchor point that electronic equipment first reaches for a upper point, how to carry out adjacent after a point The positioning of current point to be determined, specific execution are as follows：
Received signal strength corresponding when a point location is obtained, as upper optimization received signal strength, is continued Carry out the positioning of current point to be determined.Electronic equipment is in above-mentioned given scenario, current point to be determined be compared to A upper point, the point to be determined reached after electronic equipment, is based ultimately upon the optimization received signal strength of current point to be determined, this Shen It please be finally completed and current point to be determined is positioned.
Between a upper point and current point to be determined have pre-determined distance, this pre-determined distance can according to user demand into Row setting.Pre-determined distance can between 0.2 meter to 1 meter value.Further, pre-determined distance can be 0.7 meter, this 0.7 meter It can indicate the step-length of the user of electronic equipment.If user holds electronic equipment movement from a upper point to current to be positioned Point, then the distance between a upper point and current point to be determined, identical as the step-length of the user of electronic equipment.
In order to accurately utilize distance, the first received signal strength of current point to be determined is obtained, is based ultimately upon and currently waits for The optimization received signal strength of anchor point carries out current point to be determined and is positioned, and can be worked as by executing following steps First received signal strength of preceding point to be determined.
The first received signal strength of current point to be determined is calculated using following formula：
RSS=RSS0+10nlg(d)+Xδ
Wherein, RSS is the first received signal strength of current point to be determined, RSS0It is AP at a distance from current point to be determined For 1m when initial received signal strength, d be current point to be determined and AP the first distance, XδIt is for environment random factor and n Signal decay factor.This formula is referred to as signal attenuation model, can use formula in this way, calculates current to be positioned First received signal strength of point.
Step 110 can be directed to the first access point AP by following at least three step, obtain the AP and given scenario Two adjacent points in region, the first received signal strength of calculating.
The first step, for AP, obtain the transmission between AP and current point to be determined time and AP and a upper point it Between transmission time, as signal transmission time.Here the first step can obtain signal by following at least two mode Transmission time.
First way is step 11, to obtain AP and send the first signal to current point to be determined, with reception by current undetermined Time difference between the first response signal that site is returned for the first signal, as the first two-way time；Wherein, the first signal It refer to the signal that AP is sent to current point to be determined.This first signal can be detection signal, can also include the letter of content Number, as long as the signal transmission time in the embodiment of the present invention can be obtained, belong to the protection domain of the embodiment of the present invention.
Step 12, it obtains current point to be determined and receives the first signal, the first response is returned to AP with for the first signal Time difference between signal, as the first response time.
Step 13, by the difference of the first two-way time and the first response time, the biography between AP and current point to be determined is obtained The defeated time, as signal transmission time.
Step 14, it obtains the upward point of AP and sends the first signal, returned for the first signal by a upper point with receiving The second response signal between time difference, as the second two-way time.
Step 15, it obtains a upper point and receives the first signal, the second response signal is returned to AP with for the first signal Between time difference, as the second response time.
Step 16, by the difference of the second two-way time and the second response time, the transmission between AP and a upper point is obtained Time, as signal transmission time.
The second way is,
Referring to Fig. 2, the schematic diagram of the signal transmission time in the bilateral bi-directional telemetry of the embodiment of the present invention.It is wrapped in Fig. 2 It includes：AP sends the time T of the first signal to current point to be determined1, AP, which is received, to be returned by current point to be determined for the first signal The first response signal time T4, current point to be determined receives the first signal T2, current point to be determined for the first signal to AP returns to the first response signal T3, current point to be determined sends the time T of second signal to AP5, current point to be determined is received by AP For the time T for the second response signal that second signal returns8, AP receives second signal T6, AP is for second signal to current Point to be determined returns to the second response signal T7。
The step 21, step 22 of this second way correspond to step 11 and step 12 with above-mentioned first way respectively It is identical.Equally, step 21 can obtain the first two-way time Tround1.Step 22 can obtain the first response time Treply2。
Subsequently, it obtains current point to be determined and sends second signal to AP, returned for second signal with receiving by being directed to AP Time difference between the second response signal returned, as the second two-way time Tround2.Second signal refer to current point to be determined to The signal that AP is sent.This second signal can be detection signal, can also include the signal of content, the first signal and the second letter Number in addition to sending point and receiving point it is different, rest part can be identical.As long as the signal in the embodiment of the present invention can be obtained Transmission time belongs to the protection domain of the embodiment of the present invention.
Step 23, it obtains AP and receives second signal, the second response is returned to current point to be determined with for second signal Time difference between signal, as the second response time Treply1。
Step 24, by the difference of the first two-way time and the first response time, the biography between AP and current point to be determined is obtained The defeated time, as the first transmission time Tround1-Treply2。
Step 25, by the difference of the second two-way time and the second response time, the biography between AP and current point to be determined is obtained The defeated time, as the second transmission time Tround2-Treply1。
Step 26, by the average value of the sum of the first transmission time and the second transmission time, as signal transmission time [(Tround1-Treply2)+(Tround2-Treply1)].After step 26, the method can specifically obtain in the following way First distance d, including：Utilize signal transmission time [(Tround1-Treply2)+(Tround2-Treply1)] with signal propagate speed V calculates separately the distance between AP and current point to be determined and the distance between AP and a upper point, as the first distance D, it is describedAbove-mentioned steps 21 to step 26 obtains signal transmission time process, and Finally using the above-mentioned process for finally obtaining the first distance d, it is properly termed as bilateral bi-directional telemetry.
Compared to the location algorithm based on AOA (Angle of Arrival, angle of arrival).Specifically, in AP to currently waiting for When anchor point sends the first signal, AP is as sending point, and current point to be determined is as receiving point；Reaching for signal is measured by antenna To direction, the angle between sending point and receiving point is calculated, the position of receiving point is calculated using triangulation.AOA is fixed Position algorithm is vulnerable to the influence of ambient noise, and due to needing additional hardware supported, the size and power consumption requirements of equipment higher.
The above-mentioned second way sends and receives the time according to signal using the TOA algorithms of bilateral bi-directional telemetry, connects Sink can calculate propagation distance.TOA algorithms require stringent clock to synchronize to obtain enough precision, are surveyed by bilateral bi-directional Clock synchronization discrepancy can be eliminated away from method, carrys out ranging, to realize precise positioning.AOA location algorithms compared to the prior art, this The decaying for the speed that inventive embodiments are propagated due to signal much smaller than the decaying that signal propagates energy, therefore utilizes signal transmission Time is more accurate, and institute is affected by environment smaller, and does not need outer hardware supported, uses general electronic equipment.
Second step, the speed v propagated using signal transmission time and signal, is calculated separately between AP and current point to be determined Distance and the distance between AP and a upper point, as the first distance.
Third walks, and is based on the first distance, passes through the correspondence between the distance pre-established and received signal strength, meter Calculate the first received signal strength of current point to be determined and the first received signal strength of a upper point.
It further, can be by holding in order to accurately using distance, obtain the first received signal strength of a point Row following steps obtain the first received signal strength of a point.
The first received signal strength of a upper point is calculated using following formula：
RSS=RSS0+10nlg(d)+Xδ
Wherein, RSS is the first received signal strength of a upper point, RSS0When for AP at a distance from a upper point being 1m Initial received signal strength, d are the first distance of upper a point and AP, XδIt is signal decay factor for environment random factor and n. This formula is referred to as signal attenuation model, can use formula in this way, and calculate a point first receives signal Intensity.
Step 120, by the difference of the first received signal strength of two adjacent points, as waiting between two adjacent points It is poor to optimize received signal strengthWherein,WithIt is by TOA and signal decay mode Type, the received signal strength to be optimized between the current point to be determined of calculating and a upper point are poorIt is current First received signal strength of point to be determined, and subscript TOA is to be calculated using TOASubscript k-1 indicates upper one It is a,For the first received signal strength of a upper point, subscript TOA is to be calculated using TOASubscript k Indicate current point to be determined.
The received signal strength to be optimized that this step 120 is obtained as follows between two adjacent points is poor, specifically Steps are as follows：First received signal strength of current point to be determined is subtracted to the difference of the first received signal strength of a upper point, It is poor as the received signal strength to be optimized between two adjacent points.
Step 130, it obtains and is located at two adjacent points, the received signal strength of the signal of AP is received as measuring Signal strength.Here measuring signal intensity is that electronic equipment is online, and receives the received signal strength of the signal of AP.
Step 140, the measurement received signal strength of two adjacent points and received signal strength to be optimized is poor, as card The input of Kalman Filtering, using Kalman filtering, the received signal strength after being optimized is poor, and Kalman filtering is for optimizing two Received signal strength to be optimized between a adjacent point is poor.
This step 140, can as follows, and the received signal strength after being optimized is poor, and specific steps include：
First, formula is utilized：It calculates between current point to be determined and a upper point Received signal strength difference priori estimatesWherein, k is greater than or equal to 1 integer,For the measurement of a upper point Received signal strength, Ψ are noise matrix, andIt is described for the measurement received signal strength of current point to be determined Online indicates that k-1 described in received signal strength is measured when electronic equipment is online indicates a upper point, the k Indicate the current point to be determined；
Then, formula is utilized：Calculate calculation matrix H；Wherein, σkIt is poor for received signal strength to be optimized, Φ is measurement noise；
Subsequently, formula is utilized：Calculate the prior estimate of the error covariance of current point to be determinedWherein, F is the online received signal strength of a upper pointWith the online received signal strength of current point to be determinedBetween state-transition matrix, FTIt is the transposed matrix of F, Q is process noise covariance matrix, Pk-1For a upper point The prior estimate of error covariance, first time Pk-1Possess initial value, the W timesW is the integer more than 1, I For unit matrix, KkFor kalman gain, andR is observation noise covariance matrix, unit matrix I is identical as the exponent number of calculation matrix H；
Subsequently, formula is utilized：Calculate connecing between current point to be determined and a upper point Receive the posterior estimate δ of difference in signal strengthk；
Step 150, received signal strength corresponding when a upper point location is obtained, it is strong to receive signal as a upper optimization Degree.
This step 150 generally obtains upper optimization received signal strength by least two realization methods.
The first realization method, a upper point are first anchor point, obtain reception corresponding when a upper point location Signal strength, as upper optimization received signal strength, including：
It obtains and is located at first anchor point, the received signal strength of the signal of AP, makees when first positioning point location To measure received signal strength；Received signal strength will be measured, as upper optimization received signal strength.Due to this first Without other anchor points before a anchor point, also just without the optimization received signal strength of a upper point, therefore can only be by this This measurement is received signal by the received signal strength of the signal of a first anchor point AP as received signal strength is measured Intensity, as upper optimization received signal strength.
Second of realization method, a upper point are in addition to first anchor point, and a current point to be determined later is above-mentioned Upper optimization received signal strength is based on optimizing between current point to be determined and a upper point using the Kalman filtering Received signal strength difference obtain.Further, optimization received signal strength utilizes and has used Kalman filtering on this The received signal strength optimized between current point to be determined and a upper point is poor, with acquisition at current point to be determined, The received signal strength of the signal of AP, and obtain and be located at a upper point, the sum of received signal strength of signal of AP obtains 's.Here measuring signal intensity is that electronic equipment is online, and receives the received signal strength of the signal of AP.Such base Received signal strength between the current point to be determined that Kalman filtering optimized and a upper point is poor, obtains an optimization and connects Signal strength is received, by the sum of the received signal strength difference after upper an optimization received signal strength, with optimization, as current to be positioned The optimization received signal strength of point, carries out the positioning of current point to be determined, improves the positioning accuracy of current point to be determined.
Step 160, by the sum of the received signal strength difference after upper an optimization received signal strength, with optimization, as current The optimization received signal strength of point to be determined.The optimization received signal strength of current point to be determined is used in this way, it is possible to reduce ring Influence of the border to RSS can subsequently use WKNN (Weighted K nearest Neighbor, conventional weight K is neighbouring) to calculate Method, the optimization received signal strength of RSS and current point to be determined in matching database.
Step 170, the optimization received signal strength based on current point to be determined, positions current point to be determined.
Illustrate as follows how to use the optimization received signal strength of current point to be determined, to current to be positioned Point is positioned.
First, it by the optimization received signal strength of current point to be determined, is matched, is looked into the RSS of the AP in fingerprint base The RSS of preset quantity AP in the fingerprint base is found, the RSS of these preset quantities AP, the optimization with current point to be determined connects Collection of letters intensity similarity is more than default similarity, and above-mentioned preset quantity can be configured according to user demand, above-mentioned default Similarity can also be configured according to user demand.Above-mentioned fingerprint base on each RP by offline sample phase, receiving Collect what the RSS of each AP was established.The structure of fingerprint base is as follows：
Wherein, N is the number of RP, and N is the integer more than or equal to 0, and M is the number of AP, and M is more than or equal to 0 Integer, xN,yNIt is the coordinate of n-th RP, RSSi,jIt is the RSS that j-th of AP is received in i-th of RP, which RP i is, and Value is a numerical value in 1 to N, which AP j is, and value is a numerical value in 1 to M.
Since RSS is blocked by human body, prodigious fluctuation is had, so being adopted respectively on each RP points in the embodiment of the present invention Collect four direction and collects measurement RSS, the direction that such as 0 ° of four direction, 90 ° of direction, 180 ° of direction, 270 ° of direction；It will The RSSI value average filter of four direction is handled, to store the RSS of each AP obtained on each RP to fingerprint base, For the subsequent match elements of a fix, to complete to position.
Then, using the RSS of these preset quantities AP, L corresponding with the RSS of these preset quantities AP are determined The coordinate of RP, L are less than or equal to N.
Subsequently, the coordinate of L RP is weighted averagely, obtains average coordinates.
After obtaining average coordinates, the elements of a fix of current point to be determined can be determined by two ways.
First way, traverses the coordinate of all RP in above-mentioned fingerprint base, and matching is immediate with above-mentioned average coordinates One coordinate.By this immediate coordinate, the elements of a fix as current point to be determined.Illustratively, M PR is shared, it is false If using the value of RSS, immediate 3 coordinates are finally found in fingerprint base and are positioned these three coordinate weighted averages Coordinate.
The second way, by using KM clustering algorithms, from the class that the RP coordinates in advance cluster fingerprint base are obtained, Matching one and the immediate class of above-mentioned average coordinates；Then, in this immediate class, matching and above-mentioned average coordinates are most Close coordinate.Subsequently, by this immediate coordinate, the elements of a fix as current point to be determined.It is gone with class in this way To match, the coordinate for not having to traverse all RP in above-mentioned fingerprint base matches only after selecting most matched class in such, with The above-mentioned immediate coordinate of average coordinates, reduces calculation amount.
Compared to the prior art, the location algorithm based on fingerprint is by matching tuning on-line stage and offline sample phase RSS, positioned.Since RSS is influenced to fluctuate very greatly by noise, channel disturbance, multipath, shadow fading etc., cause online Positioning stage and the measurement RSS of offline sample phase will appear notable difference, to be difficult to carry out high accuracy positioning.Generally pass through The method of manual calibration establishes different fingerprint bases to different equipment, to find out the deviation of RSS on the hardware of equipment place.By In the enormous amount of equipment, and occurs new equipment every year, it is impossible to fingerprint base all be established to each equipment, worked in this way It measures huge.
In the embodiment of the present invention, the first distance is utilized in this way, the received signal strength to be optimized determined is poor, suffered ring Border influence it is smaller, then, using Kalman filtering so that the received signal strength difference to be optimized after optimization is closer to actual value, Subsequently, poor based on the received signal strength to be optimized after optimization, the optimization received signal strength of current point to be determined is obtained, it is right Current point to be determined is positioned.Positioning compared to the prior art, positioning compared to the prior art, effectively reduces ring Interference of the border to received signal strength, improves setting accuracy.The method of manual calibration compared to the prior art is to difference Equipment establish different fingerprint bases, find out the deviation of RSS on hardware where equipment, the embodiment of the present invention is automatically worked as The optimization received signal strength of preceding point to be determined, positions current point to be determined, does not need a large amount of manpower.
A kind of fingerprint location device provided in an embodiment of the present invention is introduced below.
Referring to Fig. 3, Fig. 3 is the flow diagram of fingerprint location device provided in an embodiment of the present invention.The embodiment of the present invention A kind of fingerprint location device provided, including：
It is adjacent with two in given scenario region to obtain AP for being directed to the first access point AP for first acquisition module 31 Point, the first received signal strength of calculating, two adjacent points include：Current point to be determined and relative to current point to be determined A upper point before, the first received signal strength of current point to be determined pass through between the first access point and current point to be determined Distance and received signal strength between correspondence obtain, the first received signal strength of a upper point passes through first What the correspondence of the distance between access point and point on this between received signal strength obtained；
First determining module 32 is adjacent as two for by the difference of the first received signal strength of two adjacent points Point between received signal strength to be optimized it is poor；
Second acquisition module 33 is located at for obtaining at two adjacent points, the received signal strength of the signal of AP, makees To measure received signal strength；
Second determining module 34, for the measurement received signal strength of two adjacent points and reception signal to be optimized is strong Degree is poor, and as the input of Kalman filtering, using Kalman filtering, the received signal strength after being optimized is poor, Kalman's filter The received signal strength to be optimized that wave is used to optimize between two adjacent points is poor；
Third acquisition module 35, corresponding received signal strength when for obtaining a upper point location are excellent as upper one Change received signal strength；
Third determining module 36 is used for the received signal strength difference after upper an optimization received signal strength, with optimization With the optimization received signal strength as current point to be determined；
Locating module 37 is used for the optimization received signal strength based on current point to be determined, is carried out to current point to be determined Positioning.
In the embodiment of the present invention, the first distance is utilized in this way, the received signal strength to be optimized determined is poor, suffered ring Border influence it is smaller, then, using Kalman filtering so that the received signal strength difference to be optimized after optimization is closer to actual value, Subsequently, poor based on the received signal strength to be optimized after optimization, the optimization received signal strength of current point to be determined is obtained, it is right Current point to be determined is positioned.Positioning compared to the prior art, positioning compared to the prior art, effectively reduces ring Interference of the border to received signal strength, improves setting accuracy.The method of manual calibration compared to the prior art is to difference Equipment establish different fingerprint bases, find out the deviation of RSS on hardware where equipment, the embodiment of the present invention is automatically worked as The optimization received signal strength of preceding point to be determined, positions current point to be determined, does not need a large amount of manpower.
In a kind of optional mode, the first received signal strength of current point to be determined is calculated using following formula：
RSS=RSS0+10nlg(d)+Xδ
Wherein, RSS is the first received signal strength of current point to be determined, RSS0It is AP at a distance from current point to be determined For 1m when initial received signal strength, d be current point to be determined and AP the first distance, XδIt is for environment random factor and n Signal decay factor.
In a kind of optional mode, the second determining module is specifically used for：
Utilize formula：Calculate the reception between current point to be determined and a upper point The priori estimates of difference in signal strengthWherein, k is greater than or equal to 1 integer,Letter is received for the measurement of a upper point Number intensity, Ψ is noise matrix, andFor the measurement received signal strength of current point to be determined, online indicates electronics Received signal strength is measured when equipment is online, k-1 indicates that a upper point, k indicate current point to be determined；
Utilize formula：Calculate calculation matrix H；Wherein, σkPoor for received signal strength to be optimized, Φ is to survey Measure noise；
Utilize formula：Calculate the prior estimate of the error covariance of current point to be determinedIts In, F is the online received signal strength of a upper pointWith the online received signal strength of current point to be determinedIt Between state-transition matrix, FTIt is the transposed matrix of F, Q is process noise covariance matrix, Pk-1It is assisted for the error of a upper point The prior estimate of variance, first time Pk-1Possess initial value, the W timesW is the integer more than 1, and I is unit Matrix, KkFor kalman gain, andR is observation noise covariance matrix；
Utilize formula：Calculate the reception signal between current point to be determined and a upper point The posterior estimate δ of intensity differencek；
By posterior estimate δk, as an optimization after received signal strength it is poor.
In a kind of optional mode, third acquisition module is specifically used for：
It obtains and is located at first anchor point, the received signal strength of the signal of AP, makees when first positioning point location To measure received signal strength；
Received signal strength will be measured, as upper optimization received signal strength.
In a kind of optional mode, a upper point is a current point to be determined later in addition to first anchor point, Upper optimization received signal strength using Kalman filtering based on optimizing connecing between current point to be determined and a upper point Receive what difference in signal strength obtained.
In a kind of optional mode, the first acquisition module is specifically used for：
For AP, the biography between the time and AP and a upper point of the transmission between AP and current point to be determined is obtained The defeated time, as signal transmission time；
The speed propagated using signal transmission time and signal, calculates separately the distance between AP and current point to be determined, And the distance between AP and a upper point, as the first distance；
It is calculated current by the correspondence between the distance pre-established and received signal strength based on the first distance First received signal strength of the first received signal strength of point to be determined and a upper point.
In a kind of optional mode, the first acquisition module is specifically used for：
It obtains AP and sends the first signal to current point to be determined, returned for the first signal by current point to be determined with receiving The first response signal between time difference, as the first two-way time；
Obtain current point to be determined and receive the first signal, with for the first signal to AP return the first response signal between Time difference, as the first response time；
By the difference of the first two-way time and the first response time, obtain the transmission between AP and current point to be determined when Between, as signal transmission time；
It obtains the upward point of AP and sends the first signal, the second sound that the first signal returns is directed to by a upper point with receiving Time difference between induction signal, as the second two-way time；
Obtain a point and receive the first signal, with for the first signal to AP return the second response signal between when Between it is poor, as the second response time；
By the difference of the second two-way time and the second response time, the time of the transmission between AP and a upper point is obtained, is made For signal transmission time.
In a kind of optional mode, the first acquisition module is specifically used for：It obtains AP and sends first to current point to be determined Signal, with reception by current point to be determined for the time difference between the first response signal of the first signal return, as first Two-way time；
Obtain current point to be determined and receive the first signal, with for the first signal to AP return the first response signal between Time difference, as the first response time；
It obtains current point to be determined and sends second signal to AP, with reception by being directed to the second of second signal return for AP Time difference between response signal, as the second two-way time；
It obtains AP and receives second signal, between returning to the second response signal to current point to be determined for second signal Time difference, as the second response time；
By the difference of the first two-way time and the first response time, obtain the transmission between AP and current point to be determined when Between, as the first transmission time；
By the difference of the second two-way time and the second response time, obtain the transmission between AP and current point to be determined when Between, as the second transmission time；
By the average value of the sum of the first transmission time and the second transmission time, as signal transmission time；
It obtains the upward point of AP and sends the first signal, the first sound that the first signal returns is directed to by a upper point with receiving Time difference between induction signal, as the first two-way time；
Obtain a point and receive the first signal, with for the first signal to AP return the first response signal between when Between it is poor, as the first response time；
It obtains a point and sends second signal to AP, responded with receiving by being directed to the second of second signal return for AP Time difference between signal, as the second two-way time；
Obtain AP and receive second signal, with for the upward point of second signal return between the second response signal when Between it is poor, as the second response time；
By the difference of the first two-way time and the first response time, the time of the transmission between AP and a upper point is obtained, is made For the first transmission time；
By the difference of the second two-way time and the second response time, the time of the transmission between AP and a upper point is obtained, is made For the second transmission time；
By the average value of the sum of the first transmission time and the second transmission time, as signal transmission time.
It is the structural schematic diagram of the electronic equipment of the embodiment of the present invention referring to Fig. 4, Fig. 4.The embodiment of the present invention additionally provides A kind of electronic equipment, including processor 41, communication interface 42, memory 43 and communication bus 44, wherein processor 41, communication Interface 42, memory 43 complete mutual communication by communication bus 44,
Memory 43, for storing computer program；
Processor 41 when for executing the program stored on memory 43, realizes following steps：
For the first access point AP, AP and two adjacent points in given scenario region are obtained, the first of calculating receives Signal strength, two adjacent points include：Current point to be determined and relative to the upper point before current point to be determined, currently First received signal strength of point to be determined is strong by the distance between the first access point and current point to be determined, and reception signal What the correspondence between degree obtained, the first received signal strength of a upper point by point on the first access point and this it Between distance and received signal strength between correspondence obtain；
By the difference of the first received signal strength of two adjacent points, as the reception to be optimized between two adjacent points Difference in signal strength；
It obtains and is located at two adjacent points, the received signal strength of the signal of AP, as measurement received signal strength；
The measurement received signal strength of two adjacent points and received signal strength to be optimized is poor, as Kalman filtering Input, using Kalman filtering, the received signal strength after being optimized is poor, Kalman filtering for optimize it is two adjacent Received signal strength to be optimized between point is poor；
Received signal strength corresponding when a point location is obtained, as upper optimization received signal strength；
By the sum of the received signal strength difference after upper an optimization received signal strength, with optimization, as current point to be determined Optimization received signal strength；
Optimization received signal strength based on current point to be determined, positions current point to be determined.
The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard Architecture, EISA) bus etc..The communication bus can be divided into address bus, data/address bus, controlling bus etc..For just It is only indicated with a thick line in expression, figure, it is not intended that an only bus or a type of bus.
Communication interface is for the communication between above-mentioned electronic equipment and other equipment.
Memory may include random access memory (Random Access Memory, RAM), can also include non-easy The property lost memory (Non-Volatile Memory, NVM), for example, at least a magnetic disk storage.Optionally, memory may be used also To be at least one storage device for being located remotely from aforementioned processor.
Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital Signal Processing, DSP), it is application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing It is field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete Door or transistor logic, discrete hardware components.
Method provided in an embodiment of the present invention can be applied to electronic equipment.Further, which can be：Platform Formula computer, portable computer, intelligent mobile terminal, server etc..It is not limited thereto, it is any to may be implemented the present invention's Electronic equipment all belongs to the scope of protection of the present invention.
In another embodiment provided by the invention, a kind of computer readable storage medium is additionally provided, which can It reads to be stored with instruction in storage medium, when run on a computer so that computer executes any institute in above-described embodiment The fingerprint positioning method stated.
In another embodiment provided by the invention, a kind of computer program product including instruction is additionally provided, when it When running on computers so that computer executes any fingerprint positioning method in above-described embodiment.
For device/electronic equipment/storage medium/computer program product embodiments, since it is substantially similar to Embodiment of the method, so description is fairly simple, the relevent part can refer to the partial explaination of embodiments of method.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or its arbitrary combination real It is existing.When implemented in software, it can entirely or partly realize in the form of a computer program product.The computer program Product includes one or more computer instructions.When loading on computers and executing the computer program instructions, all or It partly generates according to the flow or function described in the embodiment of the present invention.The computer can be all-purpose computer, special meter Calculation machine, computer network or other programmable devices.The computer instruction can be stored in computer readable storage medium In, or from a computer readable storage medium to the transmission of another computer readable storage medium, for example, the computer Instruction can pass through wired (such as coaxial cable, optical fiber, number from a web-site, computer, server or data center User's line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or Data center is transmitted.The computer readable storage medium can be any usable medium that computer can access or It is comprising data storage devices such as one or more usable mediums integrated server, data centers.The usable medium can be with It is magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state disk Solid State Disk (SSD)) etc..
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, identical similar portion between each embodiment Point just to refer each other, and each embodiment focuses on the differences from other embodiments.Especially for device/ For electronic equipment/storage medium/computer program product embodiments, since it is substantially similar to the method embodiment, so retouching That states is fairly simple, and the relevent part can refer to the partial explaination of embodiments of method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention It is interior.

Claims (10)

1. a kind of fingerprint positioning method, which is characterized in that the method includes：
For the first access point AP, the AP and two adjacent points in given scenario region are obtained, the first of calculating receives Signal strength, described two adjacent points include：Current point to be determined and relative to the upper point before current point to be determined, First received signal strength of the current point to be determined passes through between first access point and the current point to be determined What the correspondence between distance and received signal strength obtained, the first received signal strength of a upper point passes through institute State what the correspondence of the distance between the first access point and point on this between received signal strength obtained；
By the difference of the first received signal strength of described two adjacent points, as to be optimized between described two adjacent points Received signal strength is poor；
It obtains and is located at described two adjacent points, the received signal strength of the signal of the AP receives signal as measuring Intensity；
The measurement received signal strength of described two adjacent points and the received signal strength to be optimized is poor, as Kalman The input of filtering, using the Kalman filtering, the received signal strength after being optimized is poor, and the Kalman filtering is for excellent The received signal strength to be optimized changed between described two adjacent points is poor；
Received signal strength corresponding when a upper point location is obtained, as upper optimization received signal strength；
By the sum of the received signal strength difference after upper an optimization received signal strength, with the optimization, as described current The optimization received signal strength of point to be determined；
Based on the optimization received signal strength of the current point to be determined, the current point to be determined is positioned.
2. the method as described in claim 1, which is characterized in that calculate the first of the current point to be determined using following formula Received signal strength：
RSS=RSS0+10nlg(d)+Xδ
Wherein, RSS is the first received signal strength of the current point to be determined, RSS0For the AP with it is described current to be positioned Initial received signal strength when the distance of point is 1m, d are the first distance of the current point to be determined and the AP, XδFor ring Border random factor and n are signal decay factor.
3. the method as described in claim 1, which is characterized in that it is strong that the measurement by described two adjacent points receives signal Degree and the received signal strength to be optimized are poor, are optimized using the Kalman filtering as the input of Kalman filtering Received signal strength afterwards is poor, including：
Utilize formula：It calculates between the current point to be determined and a upper point The priori estimates of received signal strength differenceWherein, the k is greater than or equal to 1 integer,For a upper point Measurement received signal strength, Ψ is noise matrix, andIt is strong for the measurement reception signal of the current point to be determined Degree, the online expressions electronic equipment measure received signal strength when being online, and the k-1 indicates described upper one Point, the k indicate the current point to be determined；
Utilize formula：Calculate calculation matrix H；Wherein, σkPoor for the received signal strength to be optimized, Φ is to survey Measure noise；
Utilize formula：Calculate the prior estimate of the error covariance of the current point to be determinedWherein, F is the online received signal strength of a upper pointWith the online received signal strength of current point to be determinedBetween State-transition matrix, FTIt is the transposed matrix of F, Q is process noise covariance matrix, Pk-1For the error of a upper point The prior estimate of covariance, the first time Pk-1Possesses initial value, the one W times describedW is whole more than 1 Number, I are unit matrix, KkFor kalman gain, andR is observation noise covariance matrix；
Utilize formula：Calculate the reception letter between the current point to be determined and a upper point The posterior estimate δ of number intensity differencek；
By the posterior estimate δk, as an optimization after received signal strength it is poor.
4. method as described in any one of claims 1 to 3, which is characterized in that a upper point is first anchor point, institute Received signal strength corresponding when obtaining a upper point location is stated, as upper optimization received signal strength, including：
Obtain be located at first anchor point at, it is described first positioning point location when AP signal reception signal it is strong Degree, as measurement received signal strength；
By the measurement received signal strength, as upper optimization received signal strength.
5. method as described in any one of claims 1 to 3, which is characterized in that a upper point is in addition to first positions Point, a current point to be determined later, the upper optimization received signal strength are based on having used the Kalman filtering excellent Changed what the received signal strength difference between current point to be determined and a upper point obtained.
6. method as described in any one of claims 1 to 3, which is characterized in that it is described to be directed to the first access point AP, described in acquisition AP and two adjacent points in given scenario region, the first received signal strength of calculating, including：
For the AP, obtain the transmission between the AP and the current point to be determined time and the AP with it is described The time of transmission between a upper point, as signal transmission time；
The speed propagated using the signal transmission time and signal, is calculated separately between the AP and the current point to be determined Distance and the distance between the AP and a upper point, as the first distance；
Based on first distance, by the correspondence between the distance pre-established and received signal strength, described in calculating Current first received signal strength of point to be determined and the first received signal strength of a upper point.
7. method as described in any one of claims 1 to 3, which is characterized in that it is described to be directed to the first AP, obtain the AP The time of transmission between the time of transmission between the current point to be determined and the AP and a upper point, As signal transmission time, including：
It obtains the AP and sends the first signal to the current point to be determined, with reception by the current point to be determined for described Time difference between the first response signal that first signal returns, as the first two-way time；
Obtain the current point to be determined and receive first signal, with for first signal to the AP return described in Time difference between first response signal, as the first response time；
The difference of first two-way time and first response time are obtained between the AP and the current point to be determined Transmission time, as the signal transmission time；
It obtains the AP and sends the first signal to a upper point, first signal is directed to by a upper point with receiving Time difference between the second response signal returned, as the second two-way time；
It obtains a upper point and receives first signal, described second is returned to the AP with for first signal Time difference between response signal, as the second response time；
By the difference of second two-way time and second response time, the biography between the AP and a upper point is obtained The defeated time, as the signal transmission time.
8. method as described in any one of claims 1 to 3, which is characterized in that it is described to be directed to the first AP, obtain the AP The time of transmission between the time of transmission between the current point to be determined and the AP and a upper point, As signal transmission time, including：
It obtains the AP and sends the first signal to the current point to be determined, with reception by the current point to be determined for described Time difference between the first response signal that first signal returns, as the first two-way time；
Obtain the current point to be determined and receive first signal, with for first signal to the AP return described in Time difference between first response signal, as the first response time；
It obtains the current point to be determined and sends second signal to the AP, returned for second signal with receiving by being directed to the AP Time difference between the second response signal returned, as the second two-way time；
It obtains the AP and receives the second signal, described in being returned to the current point to be determined for the second signal Time difference between second response signal, as the second response time；
The difference of first two-way time and first response time are obtained between the AP and the current point to be determined Transmission time, as the first transmission time；
The difference of second two-way time and second response time are obtained between the AP and the current point to be determined Transmission time, as the second transmission time；
By the average value of the sum of first transmission time and second transmission time, as the signal transmission time；
It obtains the AP and sends the first signal to a upper point, first signal is directed to by a upper point with receiving Time difference between the first response signal returned, as the first two-way time；
It obtains a upper point and receives first signal, described first is returned to the AP with for first signal Time difference between response signal, as the first response time；
It obtains a upper point and sends second signal to the AP, with reception by being directed to what second signal returned for the AP Time difference between second response signal, as the second two-way time；
It obtains the AP and receives the second signal, described second is returned to a upper point with for the second signal Time difference between response signal, as the second response time；
By the difference of first two-way time and first response time, the biography between the AP and a upper point is obtained The defeated time, as the first transmission time；
By the difference of second two-way time and second response time, the biography between the AP and a upper point is obtained The defeated time, as the second transmission time；
By the average value of the sum of first transmission time and second transmission time, as the signal transmission time.
9. a kind of fingerprint location device, which is characterized in that described device includes：
First acquisition module, for be directed to the first access point AP, obtain the AP with it is two adjacent in given scenario region Point, the first received signal strength of calculating, described two adjacent points include：Current point to be determined and relative to current to be positioned A upper point before point, the first received signal strength of the current point to be determined is by first access point and described works as Correspondence of the distance between the preceding point to be determined between received signal strength obtains, and the first of a upper point connects Receive corresponding pass of the signal strength by the distance between point on first access point and this between received signal strength What system obtained；
First determining module is used for by the difference of the first received signal strength of described two adjacent points, as described two phases Received signal strength to be optimized between adjacent point is poor；
Second acquisition module, for obtaining at described two adjacent points, the received signal strength of the signal of the AP, As measurement received signal strength；
Second determining module is used for the measurement received signal strength of described two adjacent points and the reception signal to be optimized Intensity difference, as the input of Kalman filtering, using the Kalman filtering, the received signal strength after being optimized is poor, institute It is poor to state to be optimized received signal strength of the Kalman filtering for optimizing between described two adjacent points；
Third acquisition module, corresponding received signal strength when for obtaining a upper point location, as a upper optimization Received signal strength；
Third determining module, for the received signal strength after upper an optimization received signal strength, with the optimization is poor The sum of, the optimization received signal strength as the current point to be determined；
Locating module, be used for the optimization received signal strength based on the current point to be determined, to the current point to be determined into Row positioning.
10. device as claimed in claim 9, which is characterized in that second determining module is specifically used for：
Utilize formula：It calculates between the current point to be determined and a upper point The priori estimates of received signal strength differenceWherein, the k is greater than or equal to 1 integer,For a upper point Measurement received signal strength, Ψ is noise matrix, andIt is strong for the measurement reception signal of the current point to be determined Degree, the online expressions electronic equipment measure received signal strength when being online, and the k-1 indicates described upper one Point, the k indicate the current point to be determined；
Utilize formula：Calculate calculation matrix H；Wherein, σkPoor for the received signal strength to be optimized, Φ is to survey Measure noise；
Utilize formula：Calculate the prior estimate of the error covariance of the current point to be determinedIts In, F is the online received signal strength of a upper pointWith the online received signal strength of current point to be determinedIt Between state-transition matrix, FTIt is the transposed matrix of F, Q is process noise covariance matrix, Pk-1For the mistake of a upper point The prior estimate of poor covariance, the first time Pk-1Possesses initial value, the one W times describedW is more than 1 Integer, I are unit matrix, KkFor kalman gain, andR is observation noise covariance matrix；
Utilize formula：Calculate the reception letter between the current point to be determined and a upper point The posterior estimate δ of number intensity differencek；
By the posterior estimate δk, as an optimization after received signal strength it is poor.
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